CN117173940B - Operation prompt explanation method and system in interventional operation robot operation - Google Patents
Operation prompt explanation method and system in interventional operation robot operation Download PDFInfo
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Abstract
The application discloses an operation prompt explanation method and system in interventional operation robot operation. According to the method, login information and operation type of a first user are obtained, historical training data of the first user are synchronized according to the login information, error operation information of the first user in the operation type is determined, the error operation information is classified according to similarity, and first image information corresponding to the classified error operation information is determined; positioning the position of the surgical consumable in the real-time image, detecting the blood vessel morphology in the image, and comparing the blood vessel morphology with the first image information; when the comparison results are similar, judging whether the positions of the surgical consumables are in an error-prone area or not; when the operation is in the error-prone area, the operation prompt is carried out. The method can be used for solving the information such as consumable materials used in the operation and the operation process of doctors for learners, and can effectively help different doctors to better know and master the correct operation of the interventional robot in clinical operation.
Description
Technical Field
The invention relates to the technical field of minimally invasive vascular intervention, in particular to a method and a system for operation prompt explanation in an interventional operation robot operation.
Background
The cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases. Compared with the traditional surgery, the method has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular intervention operation is a treatment process by a doctor manually sending the catheter, the guide wire, the bracket and other instruments into a patient.
The intervention operation has the following 2 problems, firstly, in the operation process, as the DSA can emit X rays, the physical strength of doctors is reduced rapidly, the attention and the stability are also reduced, the operation precision is reduced, and accidents such as vascular intima injury, vascular perforation fracture and the like caused by improper pushing force are easy to occur, so that the life of patients is dangerous. Second, long-term ionizing radiation accumulation injuries can greatly increase the chances of a doctor suffering from leukemia, cancer, and acute cataracts. The phenomenon that doctors continuously accumulate rays due to interventional operations has become a non-negligible problem for damaging the professional lives of doctors and restricting the development of interventional operations.
The problem can be effectively solved by means of the robot technology, the accuracy and stability of operation can be greatly improved, meanwhile, the damage of radioactive rays to interventional doctors can be effectively reduced, and the occurrence probability of accidents in operation is reduced. The interventional robot is operated by manual operation, a doctor needs to be trained before clinical use, certain operation experience and skill are required, otherwise, operation errors are easy to occur, and operation failure is caused. Different doctors have different places where the operation is easy to miss in the practice process. In actual surgical procedures, these places are also a difficulty in the operation of the doctor. In addition, for novice doctors, the following table is often required to watch the operation process, and in clinical operation, the operator needs to pay attention to the operation, so that the doctor is free from the detailed explanation of the novice doctor.
However, the use of interventional robots for prompting and explanation during clinical surgery has several problems: (1) In the actual operation process, doctors are easy to miss in places with unskilled practice operation, and at present, advance prompt information for quickly reaching places with easy error is lacking, so that the doctor is ready on the premise of (2) in places with unskilled doctor operation, and at present, prompt and guidance for a correct operation method are lacking. If the method is not adopted, the operation time is possibly long, the operation efficiency is low (3) for a novice doctor, a plurality of unknown places can be encountered in the watching operation, but the operator needs to pay attention to the operation and cannot explain the operation carefully to the novice doctor, and the learning efficiency of the novice doctor is low (4) the novice doctor cannot obtain comprehensive and detailed solutions for unfamiliar parts, consumables and the like in the operation process. (5) The system capable of simultaneously meeting auxiliary prompts in clinical operations of operators and giving real-time explanation to bystanders for bystanders is lacking. (6) Different doctors are not skilled in different places, and the system does not give more targeted prompts and guidance according to the characteristics of different doctors.
Disclosure of Invention
Based on the above, the embodiment of the application provides a method and a system for explanation of operation prompt in interventional operation robot operation, which can solve the information of consumable materials, doctor operation process and the like used in operation for a learner, and a user can click a region of interest in a screen to know related content and more expanded content, so that a novice doctor can be helped to learn the operation process better.
In a first aspect, a method for teaching an operation prompt in an interventional surgical robot is provided, the method comprising:
acquiring login information and operation type of a first user, and synchronizing historical training data of the first user according to the login information;
determining error operation information of a first user in the operation type in the historical training data, classifying the error operation information according to the similarity, and determining first image information corresponding to the classified error operation information;
acquiring a real-time image of a surgical operation performed by a first user by using an interventional robot through a DSA, positioning the position of surgical consumables in the real-time image, detecting the blood vessel morphology in the image, and comparing the blood vessel morphology with the first image information; wherein the surgical consumable is specifically a guide wire catheter;
when the comparison results are similar, judging whether the positions of the surgical consumables are in an error-prone area or not;
when the operation is in the error-prone area, the operation prompt is carried out.
Optionally, after comparing the blood vessel morphology with the first image information, the method further includes:
and recording the operation condition of the first user, taking the current operation process as one-time training data, analyzing whether the operation of the first user is correct or not, and recording the operation in the historical training data of the first user.
Optionally, comparing the vessel morphology with the first image information includes:
detecting the morphology of the blood vessel from the image;
after detecting the blood vessel morphology, determining the comparison characteristic of the blood vessel morphology; wherein the alignment features include at least width, length, degree of curvature of the blood vessel;
and comparing the comparison characteristic with the blood vessel morphology in the first image information, and confirming that the comparison result is similar when the similarity exceeds a preset threshold value.
Optionally, when the operation prompt is in the error prone area, the operation prompt specifically comprises:
the display is presented to the first user in text, picture, moving picture or video form, based on the first user's previous settings.
Optionally, the method further comprises:
acquiring a real-time image of operation performed by a first user by using an interventional robot and corresponding real-time hand operation information of the first user, and displaying the real-time image and the real-time hand operation information;
and responding to a target area clicked by the second user in the real-time image, identifying the target area, searching content information corresponding to the target area, and displaying and explaining.
Optionally, identifying the target area, searching content information corresponding to the target area, and displaying and explaining the content information, including:
performing expansion prompt judgment on the second user through the expansion reading key;
and when the second user clicks the extended reading button, the associated extended content is displayed.
Optionally, identifying the target area, searching content information corresponding to the target area, and displaying and explaining the content information, including:
displaying the operation progress condition according to the real-time image and the real-time hand operation information of the first user; and introducing the knowledge of the corresponding operation flow according to the current operation progress condition.
In a second aspect, there is provided an intraoperative procedure prompt interpretation system for an interventional surgical robot, the system comprising:
the acquisition unit is used for acquiring login information and operation type of the first user and synchronizing historical training data of the first user according to the login information;
the classifying unit is used for determining error operation information of the first user in the operation type in the historical training data, classifying the error operation information according to the similarity, and determining first image information corresponding to the classified error operation information;
the comparison unit is used for acquiring a real-time image of the operation of the first user by using the intervention robot through the DSA, positioning the position of the surgical consumable in the real-time image, detecting the blood vessel morphology in the image, and comparing the blood vessel morphology with the first image information; wherein the surgical consumable is specifically a guide wire catheter;
the prompting unit is used for judging whether the position of the surgical consumable is in an error-prone area or not when the comparison results are similar; when the operation is in the error-prone area, the operation prompt is carried out.
In a third aspect, there is provided an electronic device comprising a memory storing a computer program and a processor implementing the method of any of the first aspects described above when the processor executes the computer program.
In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the first aspects described above.
It can be seen that the beneficial effects of the invention are:
1. according to the invention, by setting the operation prompt and explaining different modules in the operation, the requirements of doctors of operators and bystanders on using the interventional operation robot to finish the operation can be met, and different doctors can be effectively helped to better know and master the correct operation of the interventional robot in the clinical operation.
2. The invention finds the place which is easy to make mistakes by comparing the training conditions before the operator, can prompt in time in the actual operation process and gives out correct operation guidance. Can effectively help the operator to finish the operation rapidly, improve the operation accuracy, save the operation time, and simultaneously can help the operator to improve the operation capability.
3. The invention is provided with a multi-user system, and different systems can detect places where the operation of different users is easy to cause problems. The characteristics of different users are more different, and the prompt more in line with the operation problem of the current user is given, so that the operation is more convenient when a plurality of users use.
4. The invention can use explanation mode for novice user, in this mode, the user can see the operation process, possess the same visual angle as the operator, and can see the information of real-time operation action, current operation stage, etc. Can more intuitively conduct sightseeing and learning.
5. In the explanation mode, the user can click and select the content to be understood on the screen according to the own requirement, and the system can immediately give out corresponding answering information after identification, so that the user can conveniently and quickly learn. The extension learning is also arranged, so that the extension learning of the related knowledge can be facilitated for the user, and the novice doctor can be helped to master more knowledge.
6. According to the invention, multiple devices can be used for simultaneously watching multiple persons in an explanation mode, or a large screen is used for throwing a screen, so that more novice doctors can learn simultaneously.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
Fig. 1 is a schematic overall flow chart of an operation prompting system provided in an embodiment of the present application;
fig. 2 is a schematic overall flow chart of an explanation system provided in an embodiment of the present application;
FIG. 3 is a schematic view of a display end in an explanation mode according to an embodiment of the present application;
fig. 4 is a block diagram of an intraoperative operation prompt explanation system of an interventional surgical robot provided in an embodiment of the present application;
fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In the description of the present invention, the terms "comprises," "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements but may include other steps or elements not expressly listed but inherent to such process, method, article, or apparatus or steps or elements added based on further optimization of the inventive concept.
Cardiovascular and cerebrovascular diseases become one of three causes of death of human diseases, and seriously affect national health and normal life of people.
The cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases. Compared with the traditional surgery, the method has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular intervention operation is a treatment process by a doctor manually sending the catheter, the guide wire, the bracket and other instruments into a patient.
The intervention operation has the following 2 problems, firstly, in the operation process, as the DSA can emit X rays, the physical strength of doctors is reduced rapidly, the attention and the stability are also reduced, the operation precision is reduced, and accidents such as vascular intima injury, vascular perforation fracture and the like caused by improper pushing force are easy to occur, so that the life of patients is dangerous. Second, long-term ionizing radiation accumulation injuries can greatly increase the chances of a doctor suffering from leukemia, cancer, and acute cataracts. The phenomenon that doctors continuously accumulate rays due to interventional operations has become a non-negligible problem for damaging the professional lives of doctors and restricting the development of interventional operations.
The problem can be effectively solved by means of the robot technology, the accuracy and stability of operation can be greatly improved, meanwhile, the damage of radioactive rays to interventional doctors can be effectively reduced, and the occurrence probability of accidents in operation is reduced. The interventional robot is operated by manual operation, a doctor needs to be trained before clinical use, certain operation experience and skill are required, otherwise, operation errors are easy to occur, and operation failure is caused. Different doctors have different places where the operation is easy to miss in the practice process. In actual surgical procedures, these places are also a difficulty in the operation of the doctor. In addition, for novice doctors, the following table is often required to watch the operation process, and in clinical operation, the operator needs to pay attention to the operation, so that the doctor is free from the detailed explanation of the novice doctor.
The invention is used for assisting an operator who operates the robot and a novice doctor who learns about the operation in clinical operation by using the interventional robot. The operation prompting unit can prompt the doctor to pay attention to careful operation in an error-prone place in real time according to the intraoperative image and the previous training result of the doctor, can give guidance of a correct operation method, and helps the doctor to quickly complete operation. The explanation module can give the doctor of bystander study and carry out operation explanation in the art, can be for the consumptive material that uses in the learner answering art, doctor operation process etc. information, the user can click the region of interest in the screen and know relevant content to and more extension content, can help the better study operation process of novice doctor.
The application specifically comprises a 2-part component, an operation prompting method (system) and an explanation method (system). The two systems are independent modules, and users can use the two systems respectively. The operation prompting system is used for operating the interventional robot in clinic by an operator, the explanation system is used for learning clinical operation by a novice doctor of bystandstill operation, and the doctor selects different modes according to requirements. The system sets a multi-user management mode, each user logs in a respective account, and the system can record and manage the information of the respective user respectively. After the operation and the use of different users, the system can record the information of the respective operation data, progress, time and the like, so that the user can conveniently review.
Referring to fig. 1, an overall flow diagram of an operation prompt system provided in an embodiment of the present application is shown, which specifically includes the following steps:
s1, acquiring login information and operation type of a first user, and synchronizing historical training data of the first user according to the login information.
In this embodiment, the first user refers to a doctor user performing a surgical operation using the interventional robot, i.e. an object to be prompted by the operation in the method.
In the step, before clinical operation is performed by using the interventional robot, a doctor firstly needs to log in, different user information can be recorded in the system, and the training data of the user before can be synchronized.
S2, determining error operation information of the first user in the operation type in the historical training data, classifying the error operation information according to the similarity, and determining first image information corresponding to the classified error operation information.
After the user selects the intervention operation to be performed currently, the system searches the training data of the related operation of the previous user according to the current operation type, finds out the error place of the user in the training, counts the error information, classifies the error points according to the similarity of the error points, finds out the image information corresponding to the error place of the user after the classification, and remembers the content of the image information for comparison with the image information in the clinical actual operation.
S3, acquiring a real-time image of the operation of the first user by using the interventional robot through the DSA, positioning the position of the surgical consumable in the real-time image, detecting the blood vessel morphology in the image, and comparing the blood vessel morphology with the first image information.
Wherein the surgical consumable is specifically a guide wire catheter;
then, a user starts to use the robot to start operation, in the operation process, the system can read a real-time image acquired by the DSA, the system analyzes information in the image, positions surgical consumables such as a guide wire catheter in the image, detects blood vessel morphology information, and compares whether the blood vessel morphology belongs to a blood vessel similar image which is easy to make mistakes in the previous training of the user. The specific comparison procedure in this embodiment is given below:
(1) Image preprocessing: first, the acquired real-time images need to be preprocessed to prepare them for comparison. Preprocessing may include denoising, contrast enhancement, image binarization, segmentation, etc., in order to emphasize vessel morphology and remove other factors that may interfere with alignment.
(2) And (3) blood vessel detection: after the pretreatment, the morphology of the blood vessel needs to be detected from the image. This may involve the use of image processing techniques such as edge detection, thresholding, morphological operations, etc. By these techniques, the shape and position of the blood vessel can be extracted from the image.
(3) Feature extraction: after the vessel morphology is detected, features that can be used for alignment need to be extracted from these morphologies. These characteristics may include the width, length, degree of curvature, etc. of the vessel.
(4) And (3) comparison: these extracted features are then compared with the vessel morphology in the first image information. This may involve using some form of license plate matching algorithm or other form of similarity measure such as euclidean distance, cosine similarity, etc.
(5) And (3) judging results: according to the comparison result, whether the blood vessel morphology in the real-time image is similar to the blood vessel morphology in the first image information can be judged. If the similarity exceeds a certain threshold, the two may be considered similar.
S4, when the comparison results are similar, judging whether the positions of the surgical consumables are in an error-prone area or not;
when the operation is in the error-prone area, the operation prompt is carried out.
If the system detects that the blood vessel is error-prone to users, the system can judge whether the position information change of the guide wire or the guide tube reaches the error-prone area of the users in real time. If the user arrives at the error point just before 1cm, the system prompts the user to carefully operate, meanwhile, the system can find out the correct operation method of the error point of the user in advance, and the correct operation method is displayed to the user in the forms of characters, pictures, moving pictures, videos and the like according to the user setting, so that the user is helped to prepare in advance, the user is guided to execute the operation according to the correct method, and the operation efficiency can be improved. If the error point is not reached or passed, the system will continue to detect. If the system detects that the blood vessel is not easy to make mistakes by the user, the system can not send a prompt, but the system can record the operation condition of the user, takes the operation process as a training condition, analyzes whether the operation of the user is correct or not, records the operation in the data of the user, and can be used as a data source in the next operation.
In summary, in the operation prompting method, after the user logs in, the system can inquire the condition of the user in the prior intervention robot training, can read and analyze the operation condition of the user, and can find the error-prone type of the user after statistics. Before the user uses, the user also needs to select the type of the intervention operation to be trained, corresponding department information and the like, and the system is helped to determine the searching range. In the process of operating the robot operation, the system can compare the current image condition with the type of error prone to the user, and if the same image condition is found, the system can inform the user in advance. The system can display correct practice prompts of related operations according to user settings, and helps operators to operate more accurately.
Referring to fig. 2, an overall flow diagram of an explanation system provided in an embodiment of the present application is shown, which specifically includes the following steps:
acquiring a real-time image of operation of a first user by using an interventional robot and corresponding real-time hand operation information of the first user, and displaying the real-time image and the real-time hand operation information;
and responding to the target area clicked by the second user in the real-time image, identifying the target area, searching the content information corresponding to the target area, and displaying and explaining.
In this embodiment, the second user may refer to a student user who performs learning.
In the whole flow diagram of the interventional robot explanation system, a novice doctor needs to log in before performing bystander operation, and the system adopts multi-user management and records different user information. After logging in, the system can automatically match the real-time image of the operation of the interventional robot by the current operator and the corresponding real-time hand operation information, and the real-time image and the corresponding real-time hand operation information are synchronously transmitted, so that the bystander can know the operation of the doctor and the corresponding operation state at the same time. More novice doctors can learn simultaneously by using multiple devices or remotely screen the devices in a classroom. During the operation, bystanders can see the first visual angle image when the operators operate, and more intuitively feel the state in operation. In the operation process, a bystander can click an unfamiliar or interested area on an image at any time, and after the system identifies a selected area of a user, the system automatically identifies the current image information, quickly searches the content corresponding to the information, and then displays the content to the user in a text or picture mode. For example, in coronary surgery, a schematic view of the display end in the explanation mode is shown in fig. 3, the user clicks and selects a balloon, and wants to know the detailed information of the consumable material of the surgery, after the system identifies, the system finds that the balloon is a pre-expanded balloon, and displays the corresponding information such as model size function and the like to the user, so that the user can quickly know less knowledge in the surgery. At the same time, the system has more extended knowledge of relevant content, and the user can select to read according to the needs. The method is characterized in that after a user selects a certain area to learn, the system searches and finds out the related information of the content, and an expanded reading key is displayed on a screen so that the user can select. If the user correspondingly knows more relevant knowledge, clicking the extended reading button, the system displays a plurality of relevant knowledge, and the user reads according to the requirement. If the user does not need more, he does not click on the key and he can continue to watch the operation. In the operation process, the system can also display the operation progress according to the operation and image information of the current doctor, and simultaneously can also introduce the corresponding operation flow knowledge to help the new doctor to master the current operation state.
In summary, in the explanation process, the system watched by the bystander is another set of display device, the device and the system used by the operator can carry out data synchronous transmission, and the bystander can watch the operation of the operator from the device in real time. In the operation process, a novice doctor can click the information to be understood on the screen at any time, and the information is used for assisting in learning and mastering the operation process of the interventional operation. The system provides extended content of related knowledge according to the click content of the user, and the user can select reading.
Referring to fig. 4, a block diagram of an operation prompt explanation system in an interventional operation robot according to an embodiment of the present application is shown. Such as the system may include:
the acquisition unit is used for acquiring login information and operation type of the first user and synchronizing historical training data of the first user according to the login information;
the classifying unit is used for determining error operation information of the first user in the operation type in the historical training data, classifying the error operation information according to the similarity, and determining first image information corresponding to the classified error operation information;
the comparison unit is used for acquiring a real-time image of the operation of the first user by using the intervention robot through the DSA, positioning the position of the surgical consumable in the real-time image, detecting the blood vessel morphology in the image, and comparing the blood vessel morphology with the first image information; wherein the surgical consumable is specifically a guide wire catheter;
the prompting unit is used for judging whether the position of the surgical consumable is in an error-prone area or not when the comparison results are similar; when the operation is in the error-prone area, the operation prompt is carried out.
For specific limitations of the operation prompt interpretation system, reference may be made to the above limitation of the operation prompt interpretation method, and no further description is given here. The various modules in the above-described operational prompt interpretation system may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, an electronic device is provided, which may be a computer, whose internal structure may be as shown in fig. 5. The electronic device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the device is configured to provide computing and control capabilities. The memory of the device includes a non-volatile storage medium, an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to manipulate the alert interpretation data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by a processor implements an operational prompt interpretation method.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and does not constitute a limitation of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment of the present application, a computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the steps of the above-described operational prompt interpretation method is provided.
The computer readable storage medium provided in this embodiment has similar principles and technical effects to those of the above method embodiment, and will not be described herein.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in M forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SyMchlimk) DRAM (SLDRAM), memory bus (RaMbus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (8)
1. An operation prompt explanation method in interventional operation robot operation, which is characterized in that the operation prompt explanation method comprises an operation prompt method or an explanation method, and the operation prompt method comprises the following steps:
acquiring login information and operation type of a first user, and synchronizing historical training data of the first user according to the login information; wherein the first user refers to a doctor user performing a surgical operation using the interventional robot;
determining error operation information of a first user in the operation type in the historical training data, classifying the error operation information according to the similarity, and determining first image information corresponding to the classified error operation information;
acquiring a real-time image of a surgical operation performed by a first user by using an interventional robot through a DSA, positioning the position of surgical consumables in the real-time image, detecting the blood vessel morphology in the image, and comparing the blood vessel morphology with the first image information; wherein the surgical consumable is specifically a guide wire catheter; comparing the vessel morphology with the first image information, comprising: detecting the morphology of the blood vessel from the image; after detecting the blood vessel morphology, determining the comparison characteristic of the blood vessel morphology; the comparison features at least comprise the width, the length and the bending degree of the blood vessel; comparing the comparison characteristic with the blood vessel morphology in the first image information, and confirming that the comparison result is similar when the similarity exceeds a preset threshold value;
when the comparison results are similar, judging whether the positions of the surgical consumables are in an error-prone area or not;
when the operation is in the error-prone area, performing operation prompt; wherein the error-prone region refers to a region within a preset distance from an error point;
the explanation method comprises the following steps:
acquiring a real-time image of operation performed by a first user by using an interventional robot and corresponding real-time hand operation information of the first user, and displaying the real-time image and the real-time hand operation information;
responding to a target area clicked by a second user in the real-time image, identifying the target area, searching content information corresponding to the target area, and displaying and explaining; wherein the second user refers to a student user who performs learning.
2. The method of claim 1, further comprising, after comparing the vessel morphology with the first image information:
and recording the operation condition of the first user, taking the current operation process as one-time training data, analyzing whether the operation of the first user is correct or not, and recording the operation in the historical training data of the first user.
3. The method according to claim 1, wherein the operation prompt is performed when in the error prone area, in particular comprising:
the display is presented to the first user in text, picture, moving picture or video form, based on the first user's previous settings.
4. The method of claim 1, wherein identifying the target area to find content information corresponding to the target area and performing presentation explanation includes:
performing expansion prompt judgment on the second user through the expansion reading key;
and when the second user clicks the extended reading button, the associated extended content is displayed.
5. The method of claim 1, wherein identifying the target area to find content information corresponding to the target area and performing presentation explanation includes:
displaying the operation progress condition according to the real-time image and the real-time hand operation information of the first user; and introducing the knowledge of the corresponding operation flow according to the current operation progress condition.
6. An interventional procedure robotic intraoperative operation prompt interpretation system, comprising: an operation prompting system or an explanation system, the operation prompting system comprising:
the acquisition unit acquires login information and operation type of the first user, and synchronizes historical training data of the first user according to the login information; wherein the first user refers to a doctor user performing a surgical operation using the interventional robot;
the classifying unit is used for determining error operation information of the first user in the operation type in the historical training data, classifying the error operation information according to the similarity, and determining first image information corresponding to the classified error operation information;
the comparison unit is used for acquiring a real-time image of the operation of the first user by using the intervention robot through the DSA, positioning the position of the surgical consumable in the real-time image, detecting the blood vessel morphology in the image, and comparing the blood vessel morphology with the first image information; wherein the surgical consumable is specifically a guide wire catheter; comparing the vessel morphology with the first image information, comprising: detecting the morphology of the blood vessel from the image; after detecting the blood vessel morphology, determining the comparison characteristic of the blood vessel morphology; the comparison features at least comprise the width, the length and the bending degree of the blood vessel; comparing the comparison characteristic with the blood vessel morphology in the first image information, and confirming that the comparison result is similar when the similarity exceeds a preset threshold value;
the prompting unit is used for judging whether the position of the surgical consumable is in an error-prone area or not when the comparison result is similar; when the operation is in the error-prone area, performing operation prompt; wherein the error-prone region refers to a region within a preset distance from an error point;
the explanation system comprises:
acquiring a real-time image of operation performed by a first user by using an interventional robot and corresponding real-time hand operation information of the first user, and displaying the real-time image and the real-time hand operation information;
responding to a target area clicked by a second user in the real-time image, identifying the target area, searching content information corresponding to the target area, and displaying and explaining; wherein the second user refers to a student user who performs learning.
7. An electronic device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, performs the method of any of claims 1 to 5.
8. A computer readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, implements the method according to any of claims 1 to 5.
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| CN111613122A (en) * | 2020-05-19 | 2020-09-01 | 威爱医疗科技(中山)有限公司 | Virtual-actual fused vascular interventional operation simulation system |
| CN112820419A (en) * | 2021-01-27 | 2021-05-18 | 泰安市康福宝医疗科技有限公司 | Hospital preoperative propaganda and education system |
| CN213691398U (en) * | 2021-01-04 | 2021-07-13 | 吉林大学 | Sore nursing prompt board is pressed in prevention |
| CN214476317U (en) * | 2021-03-11 | 2021-10-22 | 吉林省中医药科学院（吉林省中医药科学院第一临床医院） | Aortic dissection postoperative patient health education guides device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111613122A (en) * | 2020-05-19 | 2020-09-01 | 威爱医疗科技(中山)有限公司 | Virtual-actual fused vascular interventional operation simulation system |
| CN213691398U (en) * | 2021-01-04 | 2021-07-13 | 吉林大学 | Sore nursing prompt board is pressed in prevention |
| CN112820419A (en) * | 2021-01-27 | 2021-05-18 | 泰安市康福宝医疗科技有限公司 | Hospital preoperative propaganda and education system |
| CN214476317U (en) * | 2021-03-11 | 2021-10-22 | 吉林省中医药科学院（吉林省中医药科学院第一临床医院） | Aortic dissection postoperative patient health education guides device |
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